Description

Speed controller using a PID controller.

#include <ChSpeedController.h>

Inheritance diagram for chrono::vehicle::ChSpeedControllerPID:

Collaboration diagram for chrono::vehicle::ChSpeedControllerPID:

Public Member Functions
	ChSpeedControllerPID ()
	Construct a speed controller with default parameters. More...

	ChSpeedControllerPID (const std::string &filename)
	Construct a steering controller with parameters read from a JSON file.

	~ChSpeedControllerPID ()
	Destructor.

void	SetGains (double Kp, double Ki, double Kd)
	Set the gains for the PID controller.

Public Member Functions inherited from chrono::vehicle::ChSpeedController
virtual	~ChSpeedController ()
	Destructor.

double	GetCurrentSpeed () const
	Return the current speed.

void	Reset (const ChFrameMoving<> &ref_frame)
	Reset the speed controller.

double	Advance (const ChFrameMoving<> &ref_frame, double target_speed, double time, double step)
	Advance the state of the speed controller.

void	StartDataCollection ()
	Start/restart data collection.

void	StopDataCollection ()
	Suspend/stop data collection.

bool	IsDataCollectionEnabled () const
	Return true if data is being collected.

bool	IsDataAvailable () const
	Return true if data is available for output.

void	WriteOutputFile (const std::string &filename)
	Output data collected so far to the specified file.

Additional Inherited Members
Protected Attributes inherited from chrono::vehicle::ChSpeedController
double	m_speed
	current vehicle speed

double	m_err
	current error (signed distance to target point)

double	m_errd
	error derivative

double	m_erri
	integral of error

ChWriterCSV *	m_csv
	ChWriterCSV object for data collection.

bool	m_collect
	flag indicating whether or not data is being collected

Constructor & Destructor Documentation

chrono::vehicle::ChSpeedControllerPID::ChSpeedControllerPID ( )

Construct a speed controller with default parameters.

Default values are all gains set to zero (no controller). The user is responsible for calling SetGains.

The documentation for this class was generated from the following files: